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Obstacle Avoid Robot

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rajjabiconstructionmaterials
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24 views3 pages

Obstacle Avoid Robot

Uploaded by

rajjabiconstructionmaterials
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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// Pin Definitions

const int trigPin = 9;


const int echoPin = 10;
const int motor1Pin1 = 5;
const int motor1Pin2 = 6;
const int motor2Pin1 = 7;
const int motor2Pin2 = 8;

// Define variables
long duration;
int distance;

void setup() {
// Initialize motor pins
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);

// Initialize ultrasonic sensor pins


pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);

// Start serial communication


Serial.begin(9600);
}

void loop() {
// Send pulse to the ultrasonic sensor
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

// Read the pulse from the echo pin


duration = pulseIn(echoPin, HIGH);

// Calculate distance (in cm)


distance = duration * 0.0344 / 2;

// Print distance to serial monitor for debugging


Serial.print("Distance: ");
Serial.println(distance);
// If obstacle is detected within 20 cm
if (distance < 20) {
// Stop motors
stopMotors();

// Backup for 1 second


moveBackward();
delay(1000);

// Turn for 1 second


turnRight();
delay(1000);

// Move forward after turning


moveForward();
} else {
// If no obstacle, move forward
moveForward();
}

// Small delay before next loop


delay(100);
}

void moveForward() {
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
}

void moveBackward() {
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
}

void stopMotors() {
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
}

void turnRight() {
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
}

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